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Use pose multiplication instead of subtraction #1521

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Merged
merged 3 commits into from
Jun 8, 2022
Merged

Use pose multiplication instead of subtraction #1521

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b8177ef
Use pose multiplication instead of subtraction
scpeters Jun 6, 2022
167723c
Merge branch 'main' into scpeters/pose_deprecate_subtraction
scpeters Jun 7, 2022
553d630
Merge branch 'main' into scpeters/pose_deprecate_subtraction
scpeters Jun 8, 2022
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7 changes: 4 additions & 3 deletions src/systems/multicopter_motor_model/MulticopterMotorModel.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -626,10 +626,11 @@ void MulticopterMotorModelPrivate::UpdateForcesAndMoments(
// is equivalent to use WorldPose().Rot().
Link parentLink(this->parentLinkEntity);
const auto parentWorldPose = parentLink.WorldPose(_ecm);
// The tansformation from the parent_link to the link_.
// The transformation from the parent_link to the link_.
// Pose poseDifference =
// link_->GetWorldCoGPose() - parent_links.at(0)->GetWorldCoGPose();
Pose poseDifference = *worldPose - *parentWorldPose;
// parent_links.at(0)->GetWorldCoGPose().Inverse()
// * link_->GetWorldCoGPose()
Pose poseDifference = (*parentWorldPose).Inverse() * (*worldPose);
Vector3 dragTorque(
0, 0, -this->turningDirection * thrust * this->momentConstant);
// Transforming the drag torque into the parent frame to handle
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4 changes: 2 additions & 2 deletions test/integration/logical_camera_system.cc
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Expand Up @@ -181,7 +181,7 @@ TEST_F(LogicalCameraTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogicalCameraBox))
EXPECT_EQ(sensor1Pose, gz::msgs::Convert(img1.pose()));
EXPECT_EQ(1, img1.model().size());
EXPECT_EQ(boxName, img1.model(0).name());
gz::math::Pose3d boxPoseCamera1Frame = boxPose - sensor1Pose;
gz::math::Pose3d boxPoseCamera1Frame = sensor1Pose.Inverse() * boxPose;
EXPECT_EQ(boxPoseCamera1Frame, gz::msgs::Convert(img1.model(0).pose()));
mutex.unlock();

Expand All @@ -192,7 +192,7 @@ TEST_F(LogicalCameraTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogicalCameraBox))
EXPECT_EQ(sensor2Pose, gz::msgs::Convert(img2.pose()));
EXPECT_EQ(1, img2.model().size());
EXPECT_EQ(boxName, img2.model(0).name());
gz::math::Pose3d boxPoseCamera2Frame = boxPose - sensor2Pose;
gz::math::Pose3d boxPoseCamera2Frame = sensor2Pose.Inverse() * boxPose;
EXPECT_EQ(boxPoseCamera2Frame, gz::msgs::Convert(img2.model(0).pose()));
mutex.unlock();
}